diff --git a/site/docs/IDEX_Post_Configuration.md b/site/docs/IDEX_Post_Configuration.md new file mode 100644 index 000000000..5177a732d --- /dev/null +++ b/site/docs/IDEX_Post_Configuration.md @@ -0,0 +1,237 @@ +# IDEX - Independent Dual Extruder Post Installation Configuration +> [!NOTE] +> It looks like you installed an IDEX Configuration, before you run anything on your machine, it is STRONGLY recommended to go through this guide before proceeding, unless you know what you are doing. + +> [!IMPORTANT] +> IDEX Software is designed, programmed and integrated by **HelgeKeck** and **Miklschmidt**, all credits go to them. I (VisualTech48) am just writing this guide. + +> [!CAUTION] +> Disclaimer - You are actually responsible for the operation of your machine, failing to do proper configuration and checks may result in injury or serious damage to your machine! + +# Before you start +As the title suggests, we must check the machine and ensure everything is in working order. All examples will follow a Mixed CoreXY kinematics, based on RatRigs IDEX platform, designed by Markforged; +## What is a Hybrid/Mixed CoreXY +The following diagram elaborates on the kinematics of our Hybrid/Mixed CoreXY + +![Screenshot_2](_media/Screenshot_2.png) +Your configuration of motors should follow the current diagram. Where **X** is the **upper motor**, **DC** is the **bottom motor**, and **Y1** and **Y2** mark the **Y motors**. +> [!TIP] +> When doing tension for the IDEX it is recommended to do **X** and **DC** first, ensuring they have the same belt length and tension, and that there is no skew in the X gantry. +> +> You can check this by moving the gantry forward and ensuring the gaps left and right are the same when you tension your X and DC belts. Only after that should you connect the Y tensioners and tension the Y axis of the printer. + +If you have confirmed that the gantry moves properly without any stalls or binding you are ready for the next step. + +## Mainsail +The next step is to update everything in the **Update Manager**. **The Update Manager** is accessed by going to the "**Machine**" Tab on the left side, and clicking the "**Refresh**" icon in the Update Manager, updating all of the components. + +> [!TIP] +> It is recommended to be up-to-date with Klipper and RatOS especially, as this ensures proper operation. + +![Machine_Tab](_media/Machine_Menu.png) +![Update Manager](_media/Update_Manager.png) + +You should now be able to see all of your components on the "Dashboard" panel if you have everything wired and connected successfully, as showcased in the image below. If that is the case, you are welcome to proceed. +![Dashboard](_media/Dashboard.png) + +Dashboard example: +![Dashboard_Success](_media/Dashboard_Success.png) + +## Stepper Direction +> [!CAUTION] +> Do not HOME the device YET! IDEX requires a lot of safety checks before we get to homing! Failing to heed and check proper configuration may result in injuries or damage to your machine! + +> [!WARNING] +> Ensure that before any movement, to place your **gantry**, **X** and **DC** to have enough clearance for test movements, refer to the below kinematics picture for an example. + +The expected directions for our Hybrid Printer Kinematics, keep that in mind when doing movement testing. + +![Direction](_media/Direction.png) + +### Preparations +Before any homing or movement, we first need to ensure our X and DC run in the direction we want, please refer to the diagram above for directions! To achive that, we need to use "Set Center Kinematic Position". +> [!WARNING] +> Using SET CENTER KINEMATIC POSITION is ONLY for debugging processes, do not forget to use "**G28**" command or "**Restart Firmware**" before any other motion. This will "trick" the machine that all of our axes are at the centre of the machine. +> +> To enable it, write `SET_CENTER_KINEMATIC_POSITION` in the console in the Dashboard panel, and press Enter. +> +> Improper usage of the kinematic movements during this may result in your toolhead and other parts of your printer colliding. Be wary. + +Changes are needed in your printer.cfg for this part and as we proceed, so preferably, prepare the "**printer.cfg**" file in another Tab. +The **"printer.cfg"** is located in the **Machine** Tab, in our config files. + +![Machine_Menu.png](_media/Machine_Menu.png) + +### Testing directions X +> [!NOTE] +> As no motor and configuration are the same, changing the motor direction pins of the 4 following dir_pins is needed. `[dual_carriage]`, `[stepper_x]`, `[stepper_y]`, `[stepper_y1l]` until you get correct movement. + +> [!WARNING] +> Don't forget to put your gantry, and X and DC in their proper centres for this testing, as showcased, otherwise, you risk collision! +> ![Gantry_Position](_media/Gantry_Position.png) + +Testing X and DC can be simply done in Klipper using the following command: +``` +FORCE_MOVE STEPPER=stepper_x DISTANCE=10 VELOCITY=10 +FORCE_MOVE STEPPER=stepper_x DISTANCE=-10 VELOCITY=10 +``` +``` +FORCE_MOVE STEPPER=dual_carriage DISTANCE=10 VELOCITY=10 +FORCE_MOVE STEPPER=dual_carriage DISTANCE=-10 VELOCITY=10 +``` +When you run the first command, the X should move **10mm** to the **right**, while running the second command the X should go **10mm** on the **left** side, returning to its original position. + +> [!IMPORTANT] +> If your motor runs in the opposite direction, you need to navigate to your motor sections, find the motor that is going in the opposite direction and adding or removing the **`!`** sign after the `dir_pin`: +> ``` +> [dual_carriage] +> dir_pin: !dual_carriage_dir_pin +> rotation_distance: 40 +> ... +> ``` + +### Testing directions Y +> [!TIP] +> Don't forget to click "Save & Restart" when making any change in your **printer.cfg**, and to re-enable **CENTRE KINEMATIC POSITION** again if you haven't already, which allows us to do our initial testing! + +Once you confirm that **X** and **DC** run in the proper direction we need to see if **Y runs properly**. + +As our Y runs on 2 motors, the "FORCE_MOVE" command does not function, as the command cannot move 2 motors simultaneously. Moving the Y is recommended through Mainsail, or using the G1 command, ie, `G1 Y210.00 F3000`. +> [!CAUTION] +> Movement in small increments is recommended, otherwise you risk damaging your printer, as we have not confirmed the motors are going in the right direction! + +**What movement is expected?** When moving the Y axis, the X and DC motors should counter the movement to stay in place, meaning that if you move the Y axis only, it shouldn't move any of the toolheads. +Do not be alarmed if you hear weird noises or belt skipping, it is why we are doing movement tests to make sure everything runs properly. + +On your initial movement of the Y, the Y must move in the proper direction, which means moving it in a **negative** direction (_ie. -10_) should move the Y Gantry **towards the front** of the machines, and moving it in a **positive** direction (_ie. +10_) should move the Y Gantry **away from the front**, and towards the back, all without moving X and DC. + +> [!TIP] +> It is recommended to do this through Mainsail, and to move it by small +-1 increments. + +![Console_Center_Kinematic](_media/Console_Center_Kinematic.png) + +If you are lucky and it moves correctly, feel free to skip this section. However, if you have issues, please proceed. + +**Scenarios and how to fix them.** +> [!TIP] +> Don't forget to click "Save & Restart" when making any change in your **printer.cfg**, and to re-enable **CENTRE KINEMATIC POSITION** again if you haven't already, which allows us to do our initial testing! + +> **SCENARIO 1:** When moving only Y, my X and DC moves!!! + +In addition to this, most likely, your Y moves in the opposite direction as well. To remedy this, invert the Y motors in the **"printer.cfg"**. +Switch the `dir_pin` of both the **Y motors**: + +Eg. +``` +[stepper_y] +dir_pin: y_dir_pin +rotation_distance: 40 +... + +[stepper_y1] +dir_pin: !y1_dir_pin +rotation_distance: 40 +``` +To: +``` +[stepper_y] +dir_pin: !y_dir_pin +rotation_distance: 40 +... + +[stepper_y1] +dir_pin: y1_dir_pin +rotation_distance: 40 +``` +> **SCENARIO 2:** When moving Y, the gantry is skewing, and skips the belt as if it is grinding!!! HELP! + +Your Y motors are running in the same direction. Switch the `dir_pin` of ONE the **Y motors**: +> [!IMPORTANT] +> Which one depends on the movement of the kinematics, so after adding/removing a **"!"** to one of the motors to switch its direction, you need to rerun the test again, and then invert both of them if you experience the previous scenario. + +Eg. +``` +[stepper_y] +dir_pin: y_dir_pin +rotation_distance: 40 +... + +[stepper_y1] +dir_pin: !y1_dir_pin +rotation_distance: 40 +``` +To: +``` +[stepper_y] +dir_pin: !y_dir_pin +rotation_distance: 40 +... + +[stepper_y1] +dir_pin: !y1_dir_pin +rotation_distance: 40 +``` + +If the movement is now correct, congrats! You are now ready to go to the next section. +> [!CAUTION] +> Don't forget to issue G28 or "Reset Firmware" if CENTER KINEMATIC POSITION is still enabled! + +You should now home X and Y to test it. + +## Left and Right endstop calibration. +> [!IMPORTANT] +> **Left toolhead** is the main toolhead, named **"X"**, and the **Right** toolhead is named **"dual_carriage"** or **"DC"** + +While homing your X, there is a large possibility that you've noticed it is off-center. This is due to IDEX having Park positions, which are essentially positions that they rest when they are not in use. + +For IDEX to work properly this has to be defined correctly in our **"printer.cfg"**. This image illustrates how to calculate it based on a 300 IDEX machine. +> [!CAUTION] +> Setting incorrect values for the offsets may result in the 2 toolheads crashing, or hitting the machine! + +![Endstop_Positions](_media/Endstop_Positions.png) +**How do I calculated it properly?** By pushing both your **left** and **right** toolhead to the maximum of its respective side, and then mesuring from the center of the nozzle, to the start of the magnetic sheet + 5mm. As the dimensions of the magnetic sheet is 310x310 (in a VCore 300), you have 5mm extra on each side. + +This can be done manually with a ruler, or via Mainsail and manually checking values. + +> [!TIP] +> Move the printed endstop part as far as your toolhead allows it, without collision. + +Based on the image, you need to change: `position_min:`, `position_max:`, `position_endstop:` in `[stepper_x]`, which is the Left Toolhead, and `[dual_carriage]`, which is the Right Toolhead. +``` +[stepper_x] +... +position_min: -73 +position_max: 300 +position_endstop: -73 + +[dual_carriage] +... +position_min: 0 +position_max: 373 +position_endstop: 373 +safe_distance: 60 +``` +> [!IMPORTANT] +> `safe_distance: 60` is the WIDTH of your toolhead + at least 2mm. + +You can now home the machine once more, and proceed to do Z Probe Calibration. + +## Z-Probe +Your final configuration now is to have the Z probe on the main toolhead, which is the left one, and do the proper Z calibration. + +Congrats! You are now ready to use your printer! + +## Advanced Additional Configuration +You can configure your Parked Position, in "**Ratos.cfg**" in the sections: `[gcode_macro T0]`, `[gcode_macro T1]`. +``` +[gcode_macro T0] +... +variable_parking_position: -55 +... +``` +``` +[gcode_macro T1] +... +variable_parking_position: 355 +... +``` diff --git a/site/docs/VAOC.md b/site/docs/VAOC.md new file mode 100644 index 000000000..f1238fc3b --- /dev/null +++ b/site/docs/VAOC.md @@ -0,0 +1,228 @@ +# VAOC - Visual Assisted Offset Calibration - 2.0 +> [!IMPORTANT] +> VAOC is designed, programmed and integrated by **HelgeKeck** and **Miklschmidt**, all credits go to them. + +> [!CAUTION] +> Disclaimer - You are actually responsible for the operation of your machine, we are not responsible for damages or improper operations while using VAOC, this is simply a comprehensive guide on how to use the system. + +## What is VAOC and what does it do. +VAOC is an Mainsail integrated process, which, with the utilization of the Macro camera, can precisely calibrate and move the nozzle offset in X and Y, which is mostly needed in IDEX machines that utilize 2 or more tool heads. It also features an optional Z Offset Probing, to measure the offset in Z in both nozzles in mere seconds. +At this stage, it requires minimum input from the user. + +## Features: +- Seamless integration into Mainsail +- Macros that can be adapted, and support any other non-RatOS printer. +- Drag and drop X & Y offset calibration +- Manual Z-Offset based on Camera Focus +- Optional and manual Z-Offset calibration with a switch, offering 0.00xmm accuracy. +- Optional LED control through Mainsail + +## Requirements: +Needed: +- RatOS 2.1+ / Mainsail (if you use a custom fork) +- Raspberry PI Camera or a Camera with adjustable focus. (Macro camera needed for this) +- VAOC Camera case + +Optional: +- Camera LED / Neopixel Ring Led +- Z Offset Endstop +- Full Camera case + +## Device +For VAOC to work, a macro camera is needed that can see the nozzle at small distances with adjustable focus, it is suggested to use a Raspberry Pi camera, as it has a small footprint, alongside a Pi Camera HDMI Cable extension, so that the VAOC device and case can be connected via the HDMI cable for longer distances, to avoid using the ribbon cable. + +There are various cases for the camera, which can be found on **Discord** or you can use the full VAOC camera case, which uses the RatRig endstop from @VisualTech48, and enables you to check your Z Offset as well. +![image](_media/VAOC_Device.png) +> [!TIP] +> The benefit of running a case with the PI HDMI cable extender, is that it carries 4 additional pins (we need 15 for our camera, and we have 4 extra, which uses to drive the Neopixel lights and the Endstop) + +## Configuration +> [!NOTE] +> Before starting VAOC, ensure that the Camera is functional in the Mainsail with Crowsnest, and name it VAOC. + +If the image is black or the signal is missing you have a misconfigured camera. + +This is an EXAMPLE configuration for Raspberry PI camera V2: +``` +[crowsnest] +log_path: /home/pi/printer_data/logs/crowsnest.log +log_level: verbose # Valid Options are quiet/verbose/debug +delete_log: false # Deletes log on every restart, if set to true +no_proxy: false + +[cam 1] +mode: camera-streamer # ustreamer - Provides mjpg and snapshots. (All devices) + # camera-streamer - Provides webrtc, mjpg and snapshots. (rpi + Raspi OS based only) +enable_rtsp: false # If camera-streamer is used, this enables also usage of an rtsp server +rtsp_port: 8554 # Set different ports for each device! +port: 8080 # HTTP/MJPG Stream/Snapshot Port +device: /base/soc/i2c0mux/i2c@1/imx219@10 # See Log for available ... +resolution: 1920x1080 # widthxheight format +max_fps: 40 # If Hardware Supports this it will be forced, otherwise ignored/coerced. +custom_flags: --camera-height=1080 --camera-width=1920 --camera-video.height=1920 --camera-snapshot.height=1920 --camera-format=YUYV +#v4l2ctl: +``` +After the camera is set up, you need to ensure the proper clearance for the camera, which can be set up in the "**ratos-variables.cfg**", in the "**Machine**" tab in Mainsail. This is a sanity check. + +![image](_media/Machine_Menu.png) +![image](_media/Config_Root.png) + +> [!WARNING] +> Do not change any of the settings of this file, besides **_zcontrolpoint =** this value changes our Z (_Bed position_) for the start of our **VAOC** calibration. (If the value is **50.0**, when you click _Start Calibration_ in VAOC, your Bed will go down by **50.0**). + +This value doesn't have to be exact, the VAOC system offers to change the Z, however, it has to give enough clearance for the VAOC Camera case to go down. So this value depends on your case thickness. + +_ratos-variables.cfg_ + +``` +[Variables] +idex_applied_offset = 0 +idex_xcontrolpoint = 200.0 +idex_xoffset = 0.0 +idex_ycontrolpoint = 50.0 +idex_yoffset = 0.0 +idex_zcontrolpoint = 50.0 +idex_zoffset = 0.0 +idex_zoffsetcontrolpoint = 50.0 +``` +### Optional configuration +> [!IMPORTANT] +> It is heavily recommended that you use some type of LEDs with the camera, so you and the system can see the nozzle properly. + +#### Configurarating VAOC Neopixel lights: +> [!IMPORTANT] +> It is important for proper functionality that the LED name is "**vaoc_led**". +> +> This is an example code, your PIN definition will vary from board to board, the NEOPixel light needs 3 free GPIO pins to work properly. +> - ![#f03c15](https://placehold.co/8x8/f03c15/f03c15.png) `Red - 5V` +> - ![#0000ff](https://placehold.co/8x8/0000ff/0000ff.png) `Blue - Data` +> - ![#303436](https://placehold.co/8x8/303436/303436.png) `Black - Ground` +> - pin: is the Blue Data Cable + +``` +[neopixel vaoc_led] +pin: PE10 +chain_count: 8 +color_order: GRB +initial_RED: 0.0 +initial_GREEN: 0.0 +``` + +#### Configurarating Z-Offset-Probe +> [!TIP] +> For IDEX machines that want to utilize the most out of the machine it is recommended to have a physical z-offset check, to ensure both, or multiple nozzles are at the same height. + +To configure the Z-Offset-Probe, the case needs to have a physical probe that the nozzle will activate. +> [!NOTE] +> For this example we are using VisualTech48 VAOC Case. It has approximately 29mm between the **Center of the camera** and the **Probe Point** on the Y. +> +> It is always recommended to take a ruler, or move the machine from the centre of the camera towards your Probe Point and measure it exactly. + +![image](_media/VAOC_See_Through.png) + +This is an example configuration, you have to define your own pin to use. VAOC works with any endstop, the only requirement is that it is wired correctly. + +![#228B22](https://placehold.co/8x8/228B22/228B22.png) `Signal` + +![#303436](https://placehold.co/8x8/303436/303436.png) `Black - Ground` + +Configuration in __printer.cfg__ +``` +[z_offset_probe] +pin: ^PF0 # probe trigger pin +z_offset: 28.35 # probe height, used to limit the probe z-move +y_offset: 29.0 # probe y-offset, measured from the camera centre +x_offset: 0 # probe x-offset, measured from the camera centre +speed: 10 +samples: 3 # number of samples +sample_retract_dist: 5 +lift_speed: 10.0 +samples_result: median +samples_tolerance: 0.2 +samples_tolerance_retries: 5 +``` +> [!CAUTION] +> Incorrect values for the `pin: ^PF0`, `z_offset: 28.35 `, `y_offset: 29.0 t`, `x_offset: 0`, may result in crashed bed/broken camera when doing Z-Offset-Check! Triple-check everything! + +To test if the Z-Offset-Endstop is wired correctly, you can use the following command: `Z_OFFSET_QUERY_PROBE`, with a physical click test, by engaging the endstop, and checking if it changes state by rerunning `Z_OFFSET_QUERY_PROBE`. +![image](_media/Offset_Probe_Test.png) +![image](_media/Offset_Probe_Test_2.png) +> [!IMPORTANT] +> If the endstop appears to have an inverted signal (Triggered when it should be opened and vice versa, you can put a **!** before the pin name. Ie. `pin: ^!PF0` + +## Entering the VAOC Calibration +If the camera is set up properly and working, you are ready for the next step which is entering the VAOC calibration. + +To enter the calibration, press the VAOC button on the left side of the menu. + +![image](_media/VAOC_Menu.png) + +Please allow the system a few seconds to open up the VAOC calibration. Press "Start Calibration on the upper left corner. +> [!IMPORTANT] +> If you haven't homed the machine, it will home now. +> After it homes or if it already is homed, the machine will go towards the position that is written in `ratos-variables.cfg`, `_xcontrolpoint, _yxcontrolpoint, _zxcontrolpoint` + +When the machine is done moving towards the `ratos-variables.cfg` values, you can now place the VAOC Case as close as to the nozzle center as you can. + +![image](_media/VAOC_Example.png) +![image](_media/Calibration_01.png) +> [!TIP] +> You can enable the LEDs by clicking on the Light icon on the top right side! + +### Setting the camera focus +Now that you have your nozzle close enough to the camera centre, you need to ensure it's in focus, and turn it into a macro lens. If you have a PI camera, this is quite simple, use the white circular tool you received, and unscrew the camera, almost till its unscrewed in full: + +_Lens unscrewing plastic:_ + +![image](_media/Calibration_01_Plastic.png) + +Once you've unscrewed it as much as you can without popping it out, click on the **Move** button in VAOC interface, and move the bed height with **VAOC Z Focus tool**, until you get a **clear** and **crisp** image of the **tip of the nozzle**, like so: +![image](_media/Calibration_02.png + +> [!TIP] +> Congratulations, you now have VAOC Ready to calibrate the offsets. + +### Setting the Offset between T0 and T1 toolhead. +Now that the VAOC Camera is ready and set, we need to move the toolhead towards the camera. This can be done by clicking and dragging the image, till the green circle is in the middle of the nozzle. +Video: ![video](_media/Nozzle_move.mp4) + +> [!WARNING] +> If moving the camera centre towards the nozzle results in the toolhead going in the wrong direction/s, you need to flip the image horizontally/vertically in the **Settings** tab! + +After moving the circle towards the centre as close as you can, you need to ensure that the PixelPerMM is correct, that depends on your nozzle inner and outer size. + +This can be accessed on the Settings button. Change this till the outer circle and the inner circle match. In this case that was 210mm. + +![image](_media/Calibration_03.png) + +Video: ![video](_media/Nozzle_PPmm.mp4) + +> [!TIP] +> You can use the mouse wheel to zoom in on the nozzle. + +> [!WARNING] +> If T0 and T1 have incorrect endstop configuration, you might not be able to see T1 when you call for it on VAOC. Please ensure the configuration of the endstops for DC and X is proper and that the offset between T0(X) and T1(DC) is not higher than **2mm**. + +When the green circles are as close to the centre as they can be, click on the "Set Reference" button to set the reference which will be used for T1 positioning and offset. + +After you've set the reference go to the second toolhead by clicking on the **T1** button on the top left corner, and drag and drop the green circle again till it gets towards the center of the T1 toolhead. +Explanatory video: +![video](_media/Nozzle_Calibrate_Reference.mp4) + +### Optional Z-Offset Calibration +> [!CAUTION] +> Before doing Z-Offset Calibration, make sure that the values for the `pin: ^PF0`, `z_offset: 28.35 `, `y_offset: 29.0 t`, `x_offset: 0`, inside `printer.cfg` are correct! Incorrect settings may result in a crashed bed and/or broken camera when doing Z-Offset-Check! Triple-check everything! +Video explaining what happens during Z-Offset-Calibration: + +![video](_media/VAOC_Z-Click.mp4) + +To calibrate the Z-Offset between 2 nozzles it comes down to a few simple steps: + +- Make sure that the nozzle tip is in the camera centre. +- Go to T1 to ensure that T1 has properly calibrated offset. +- Go back to T0, and click on **"Z-Probe"** +- Go to T1, and after making sure it's again in the centre, click again on **"Z-Probe**". + +Voila, your Z-Offsets are now probed and the offset between them has been applied! + + diff --git a/site/docs/_media/Calibration_01.png b/site/docs/_media/Calibration_01.png new file mode 100644 index 000000000..1b5be6dcf Binary files /dev/null and b/site/docs/_media/Calibration_01.png differ diff --git a/site/docs/_media/Calibration_01_Plastic.png b/site/docs/_media/Calibration_01_Plastic.png new file mode 100644 index 000000000..fe124d210 Binary files /dev/null and b/site/docs/_media/Calibration_01_Plastic.png differ diff 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